From 3a13b86a47885930633308200b575bc32da8a4bf Mon Sep 17 00:00:00 2001
From: Denis Biryukov <denis.biryukov@zettascale.tech>
Date: Wed, 4 Dec 2024 15:40:26 +0100
Subject: [PATCH] fix matching listener

---
 Cargo.lock                                  | 54 ++++++++++-----------
 zenoh-plugin-ros2dds/src/route_publisher.rs |  4 +-
 2 files changed, 29 insertions(+), 29 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index de2b427..654d316 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -4397,7 +4397,7 @@ dependencies = [
 [[package]]
 name = "zenoh"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "ahash",
  "async-trait",
@@ -4462,7 +4462,7 @@ dependencies = [
 [[package]]
 name = "zenoh-buffers"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "zenoh-collections",
 ]
@@ -4470,7 +4470,7 @@ dependencies = [
 [[package]]
 name = "zenoh-codec"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "tracing",
  "uhlc",
@@ -4481,12 +4481,12 @@ dependencies = [
 [[package]]
 name = "zenoh-collections"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 
 [[package]]
 name = "zenoh-config"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "json5",
  "num_cpus",
@@ -4507,7 +4507,7 @@ dependencies = [
 [[package]]
 name = "zenoh-core"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "lazy_static",
  "tokio",
@@ -4518,7 +4518,7 @@ dependencies = [
 [[package]]
 name = "zenoh-crypto"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "aes 0.8.4",
  "hmac 0.12.1",
@@ -4531,7 +4531,7 @@ dependencies = [
 [[package]]
 name = "zenoh-ext"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "bincode",
  "flume",
@@ -4548,7 +4548,7 @@ dependencies = [
 [[package]]
 name = "zenoh-keyexpr"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "hashbrown",
  "keyed-set",
@@ -4562,7 +4562,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "zenoh-config",
  "zenoh-link-commons",
@@ -4579,7 +4579,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-commons"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "async-trait",
  "flume",
@@ -4603,7 +4603,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-quic"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "async-trait",
  "base64 0.22.1",
@@ -4629,7 +4629,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tcp"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "async-trait",
  "socket2 0.5.7",
@@ -4646,7 +4646,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-tls"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "async-trait",
  "base64 0.22.1",
@@ -4675,7 +4675,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-udp"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "async-trait",
  "socket2 0.5.7",
@@ -4694,7 +4694,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-unixsock_stream"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "async-trait",
  "nix",
@@ -4712,7 +4712,7 @@ dependencies = [
 [[package]]
 name = "zenoh-link-ws"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "async-trait",
  "futures-util",
@@ -4732,7 +4732,7 @@ dependencies = [
 [[package]]
 name = "zenoh-macros"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -4743,7 +4743,7 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-rest"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "anyhow",
  "async-std",
@@ -4794,7 +4794,7 @@ dependencies = [
 [[package]]
 name = "zenoh-plugin-trait"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "git-version",
  "libloading",
@@ -4810,7 +4810,7 @@ dependencies = [
 [[package]]
 name = "zenoh-protocol"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "const_format",
  "rand 0.8.5",
@@ -4824,7 +4824,7 @@ dependencies = [
 [[package]]
 name = "zenoh-result"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "anyhow",
 ]
@@ -4832,7 +4832,7 @@ dependencies = [
 [[package]]
 name = "zenoh-runtime"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "lazy_static",
  "ron",
@@ -4845,7 +4845,7 @@ dependencies = [
 [[package]]
 name = "zenoh-sync"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "event-listener 5.3.1",
  "futures",
@@ -4858,7 +4858,7 @@ dependencies = [
 [[package]]
 name = "zenoh-task"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "futures",
  "tokio",
@@ -4871,7 +4871,7 @@ dependencies = [
 [[package]]
 name = "zenoh-transport"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "async-trait",
  "crossbeam-utils",
@@ -4904,7 +4904,7 @@ dependencies = [
 [[package]]
 name = "zenoh-util"
 version = "1.0.0-dev"
-source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#c764bf9be0423b7d90f534209b0be2b8017b71ed"
+source = "git+https://github.com/eclipse-zenoh/zenoh.git?branch=main#9a73585f60039a469c8230193c4792d43116f663"
 dependencies = [
  "async-trait",
  "const_format",
diff --git a/zenoh-plugin-ros2dds/src/route_publisher.rs b/zenoh-plugin-ros2dds/src/route_publisher.rs
index cd29972..8d6d532 100644
--- a/zenoh-plugin-ros2dds/src/route_publisher.rs
+++ b/zenoh-plugin-ros2dds/src/route_publisher.rs
@@ -51,7 +51,7 @@ use crate::{
 
 pub struct ZPublisher {
     publisher: Arc<Publisher<'static>>,
-    matching_listener: Option<zenoh::pubsub::MatchingListener<()>>,
+    matching_listener: Option<zenoh::matching::MatchingListener<()>>,
     _cache: Option<PublicationCache>,
     cache_size: usize,
 }
@@ -257,7 +257,7 @@ impl RoutePublisher {
 
                     move |status| {
                         tracing::debug!("{route_id} MatchingStatus changed: {status:?}");
-                        if status.matching_subscribers() {
+                        if status.matching() {
                             if let Err(e) = activate_dds_reader(
                                 &dds_reader,
                                 &ros2_name,